- Programming with RTAI-Linux (RTHAL) entails three levels of code execution
- RTAI real-time (RTAI tasks)
Communication with user space through RTAI calls. Limited POSIX implementation (threads, queues) - Linux kernel (executed on behalf of user space programs) Communication with user space through syscalls (libc)
- User space (processes, threads if used) Can use Unix IPC (POSIX threading and IPC, shared memory, message queues)
- RTAI real-time (RTAI tasks)
